TwinCANSource

Some example Source code

The nearly complete sources are there: http://www.canexperts.de/software/xc164.c But this snipped shows how it looks like:

 /* (c) 2003 port GmbH? Halle/Saale http://www.port.de service@port.de 
  *------------------------------------------------------------------------*/
 
 DrvError_t?   Init_CAN? (UNSIGNED16 wBaudRate)
 {
    UNSIGNED8          bN;                /* loop counter                  */
    UNSIGNED8          Bit0, Bit1;        /* bit timing parameter          */
 
    /* used with TwinCAN CAN line 0 or 1; A or B */
    int line = 0;   /* optional line argument */
 
    /* Set CAN Controller to INIT mode */
    CAN_WRITE?(CAN_ControlReg, CAN_CNTL_INIT + CAN_CNTL_CONFIG_CHANGE_ENABLE?);
    /* Set Timing Register values */
    switch (wBaudRate)
    {
       //case   10:   Bit0 = CAN_BTR0_10K?;     Bit1 = CAN_BTR1_10K?;     break;
       //case   20:   Bit0 = CAN_BTR0_20K?;     Bit1 = CAN_BTR1_20K?;     break;
       //case   50:   Bit0 = CAN_BTR0_50K?;     Bit1 = CAN_BTR1_50K?;     break;
       //case  100:   Bit0 = CAN_BTR0_100K?;    Bit1 = CAN_BTR1_100K?;    break;
       case  125:   Bit0 = CAN_BTR0_125K?;    Bit1 = CAN_BTR1_125K?;    break;
       case  250:   Bit0 = CAN_BTR0_250K?;    Bit1 = CAN_BTR1_250K?;    break;
       case  500:   Bit0 = CAN_BTR0_500K?;    Bit1 = CAN_BTR1_500K?;    break;
       case 1000:   Bit0 = CAN_BTR0_1000K?;   Bit1 = CAN_BTR1_1000K;   break;
       default  :   return (eCanDrvErrBdRate);
    }
    CAN_WRITE?(CAN_BitTiming0Reg, Bit0);
    CAN_WRITE?(CAN_BitTiming1Reg, Bit1);
    /* Mark all Message Objects as not valid (MSGVAL = Reset) */
    for (bN = 0; (bN < 32); bN++)
    {
                 /* chn, register,      value  */
       CAN_WRITE_OBJ?(bN, CAN_OBJ_MCR?(0),
                         (   CAN_MSG_VAL_RESET?
                                       & CAN_MSG_TXIE_RESET?
                                       & CAN_MSG_RXIE_RESET?
                                       & CAN_MSG_IntPnd_RESET?));
 
       CAN_WRITE_OBJ?(bN, CAN_OBJ_MCR?(1), 
                                     (   CAN_MSG_RmtPnd_RESET?
                                       & CAN_MSG_TxRqst_RESET?
                                       & CAN_MSG_CPUUpd_RESET?
                                       & CAN_MSG_NewDat_RESET?));
    }
    /* Configure CAN-Transmit-Object (used to transmit ALL messages) */
    Create_CAN_Tx? (CAN_TRANSMIT_OBJ?, TRINP_NODE?, 0);
 
    /* Configure CAN-Node-Receive-Objects  */
    /*                   object,       int node,      id,          mask     */
    /* Assign ID later, masks now are all set to inhibit reception */
    Create_CAN_Rx? (CAN_1_RECEIVE_OBJ?, TRINP_NODE?,
                0xFFFFFFFF, 0xFFFFFFFF);
 
    /* Configure CAN-Broadcast-Receive-Object */
    /* Fixed mask - not overwritten later */
    Create_CAN_Rx? (CAN_2_RECEIVE_OBJ?, TRINP_NODE?,
                (MY_PROTOCOL_FLAG? + 0L), 0x100007FF);
 
    /*                          TRINP        EINP     */
    CAN_WRITEW?(CAN_GlobalINPReg, ((TRINP_NODE? << 8) + (EINP_NODE? << 0)));
   /*  -----------------------------------------------*/
   /*  Configuration of Service Request Nodes 0 - 7:  */
   /*  -----------------------------------------------*/
   /*  SRN0 service request node configuration:
    *  GPX   IR  IE     ILVL     GLVL
        8  | 7 | 6 | 5 .....2 | 1  0 
    *  - SRN0 interrupt priority level (ILVL) = 1
    *  - SRN0 interrupt group level (GLVL) = 2
    *  - SRN0 group priority extension (GPX) = 0 
    *  0 is always lowest priority
    */
   /* CAN_0IC_?       =  0x0046;      */
   /*                   IE         ILVL       GLVL   */
      CAN_0IC_?       =  (1 << 6) + ( 1 << 2 ) +  2;     
      /* Power Down Message */
      CAN_1IC_?       =  (1 << 6) + ( 2 << 2 ) +  2;   
 ......